<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>blmc_robots: /workspace/software/workspace/src/catkin/robots/blmc_robots/include/blmc_robots/n_joint_blmc_robot_driver.hpp File Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">blmc_robots
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>File&#160;List</span></a></li>
      <li><a href="globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('n__joint__blmc__robot__driver_8hpp.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#nested-classes">Classes</a> &#124;
<a href="#namespaces">Namespaces</a>  </div>
  <div class="headertitle">
<div class="title">n_joint_blmc_robot_driver.hpp File Reference</div>  </div>
</div><!--header-->
<div class="contents">

<p>Base driver for a generic n-joint BLMC robot.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;cmath&gt;</code><br />
<code>#include &lt;Eigen/Eigen&gt;</code><br />
<code>#include &lt;mpi_cpp_tools/math.hpp&gt;</code><br />
<code>#include &lt;robot_interfaces/n_joint_robot_types.hpp&gt;</code><br />
<code>#include &lt;robot_interfaces/robot_driver.hpp&gt;</code><br />
<code>#include &lt;<a class="el" href="blmc__joint__module_8hpp_source.html">blmc_robots/blmc_joint_module.hpp</a>&gt;</code><br />
<code>#include &lt;<a class="el" href="common__header_8hpp_source.html">blmc_robots/common_header.hpp</a>&gt;</code><br />
</div><div class="textblock"><div class="dynheader">
Include dependency graph for n_joint_blmc_robot_driver.hpp:</div>
<div class="dyncontent">
<div class="center"><img src="n__joint__blmc__robot__driver_8hpp__incl.png" border="0" usemap="#_2workspace_2software_2workspace_2src_2catkin_2robots_2blmc__robots_2include_2blmc__robots_2n__joint__blmc__robot__driver_8hpp" alt=""/></div>
<map name="_2workspace_2software_2workspace_2src_2catkin_2robots_2blmc__robots_2include_2blmc__robots_2n__joint__blmc__robot__driver_8hpp" id="_2workspace_2software_2workspace_2src_2catkin_2robots_2blmc__robots_2include_2blmc__robots_2n__joint__blmc__robot__driver_8hpp">
<area shape="rect" id="node7" href="blmc__joint__module_8hpp.html" title="blmc_robots/blmc_joint\l_module.hpp" alt="" coords="278,139,434,180"/>
<area shape="rect" id="node13" href="common__header_8hpp.html" title="The hardware wrapper of the quadruped. " alt="" coords="603,228,749,269"/>
</map>
</div>
</div><div class="textblock"><div class="dynheader">
This graph shows which files directly or indirectly include this file:</div>
<div class="dyncontent">
<div class="center"><img src="n__joint__blmc__robot__driver_8hpp__dep__incl.png" border="0" usemap="#_2workspace_2software_2workspace_2src_2catkin_2robots_2blmc__robots_2include_2blmc__robots_2n__joint__blmc__robot__driver_8hppdep" alt=""/></div>
<map name="_2workspace_2software_2workspace_2src_2catkin_2robots_2blmc__robots_2include_2blmc__robots_2n__joint__blmc__robot__driver_8hppdep" id="_2workspace_2software_2workspace_2src_2catkin_2robots_2blmc__robots_2include_2blmc__robots_2n__joint__blmc__robot__driver_8hppdep">
<area shape="rect" id="node2" href="fake__finger__driver_8hpp_source.html" title="/workspace/software\l/workspace/src/catkin\l/robots/blmc_robots/include\l/blmc_robots/fake_finger_driver.hpp" alt="" coords="5,139,235,209"/>
<area shape="rect" id="node3" href="one__joint__driver_8hpp.html" title="Driver for a &quot;one&#45;joint&quot; robot. " alt="" coords="259,139,477,209"/>
<area shape="rect" id="node4" href="real__finger__driver_8hpp_source.html" title="/workspace/software\l/workspace/src/catkin\l/robots/blmc_robots/include\l/blmc_robots/real_finger_driver.hpp" alt="" coords="501,139,726,209"/>
<area shape="rect" id="node5" href="two__joint__driver_8hpp.html" title="Driver for a &quot;two&#45;joint&quot; robot. " alt="" coords="750,139,967,209"/>
</map>
</div>
</div>
<p><a href="n__joint__blmc__robot__driver_8hpp_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structblmc__robots_1_1MotorParameters.html">blmc_robots::MotorParameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters related to the motor.  <a href="structblmc__robots_1_1MotorParameters.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structblmc__robots_1_1CalibrationParameters.html">blmc_robots::CalibrationParameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters for the joint calibration (homing and go to initial pose).  <a href="structblmc__robots_1_1CalibrationParameters.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1NJointBlmcRobotDriver.html">blmc_robots::NJointBlmcRobotDriver&lt; N_JOINTS, N_MOTOR_BOARDS &gt;</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base class for simple n-joint BLMC robots.  <a href="classblmc__robots_1_1NJointBlmcRobotDriver.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr class="memitem:namespaceblmc__robots"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html">blmc_robots</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Base driver for a generic n-joint BLMC robot. </p>
<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2019, New York University and Max Planck Gesellschaft. </dd></dl>
</div></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_80e6cdd9bbc895bd262b4f65e652822c.html">catkin</a></li><li class="navelem"><a class="el" href="dir_b7f9efe3285d4a585ae30572be0808b1.html">robots</a></li><li class="navelem"><a class="el" href="dir_ee86b8bcb6635cb36ad14bd888f09517.html">blmc_robots</a></li><li class="navelem"><a class="el" href="dir_ff3606c6e0aa43abff10c4365bd5a19c.html">include</a></li><li class="navelem"><a class="el" href="dir_c66acd4681b95343b3d51cde3fc288b6.html">blmc_robots</a></li><li class="navelem"><a class="el" href="n__joint__blmc__robot__driver_8hpp.html">n_joint_blmc_robot_driver.hpp</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
